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Creator:: Baek, Yoon Su
Abstract:: This thesis presents a model of legged locomotion in which position and velocity of body are directly controlled by positions and velocities of feet. One central relationship between foot acceleration, leg stroke and body velocity is developed. Procedures for determining all parameters of a step sequence including periods of constant...
Resource Type:: Dissertation
Full Text:: . Fichter and his wife, Dr. Becky L. Fichter, for their advice and encouragement. Many of the results of

Creator:: Foo, Chee Kit
Abstract:: This thesis presents a method for determining range of body motion for a walking machine with feet fixed on the ground. The darkling beetle was selected as the sample subject in this study. A closed form inverse kinematic solution is used to determine if a point in space is within...
Resource Type:: Masters Thesis
Full Text:: major professor, and his wife Dr. Becky L. Fichter. It is doubtful that this thesis could have been

Creator:: Hsu, Chun-chia
Abstract:: This thesis examines the influence on range-of-motion of beetle body of changes in leg segment parameters. From beetle's leg orientation, influence of the following leg segment parameters are investigated: coxa length, coxa twist and body-coxa joint. Kinematic equations are derived for legs of the beetle. Roots of quartic polynomials obtained...
Resource Type:: Masters Thesis
Full Text:: Redacted for Privacy r) Dean of Grate School(, Date thesis is presented December 3, 1991 Typed by Chun

Creator:: Su, I-chih
Abstract:: A method to design foot trajectory in Cartesian coordinates for a six-leg walking machine is presented in this thesis. The walking machine is based on the geometry of the darkling beetle. The walking procedure developed by Y.S. Baek is introduced first to provide step length and leg swing time for...
Resource Type:: Masters Thesis
Full Text:: all, I would like to thank Dr. Eugene F. Fichter, my major professor, and his wife Dr. Becky L

Creator:: Mallysetty, Venkata Ramana
Abstract:: This thesis investigates a simple dynamic model of the hind leg of a beetle during initiation of a step. The primary assumption was that the full load of the body was carried on the hind leg during this time. That is, the only forces on the body were that of...
Resource Type:: Masters Thesis
Full Text:: thanks are due to Dr. Eugene F. Fichter, my major professor, and his wife Dr. Becky L. Fichter, for

Creator:: Thompson, Eric William
Abstract:: This thesis presents a control system for a walking machine leg. The leg is representative of one of the six legs required for a proposed walking machine based on the geometry of the darkling beetle. Each of the three joints is controlled by a DC servo motor mounted to the...
Resource Type:: Masters Thesis
Full Text:: . Eugene F. Fichter and his wife Dr. Becky L. Fichter. Without their guidance and encouragement this

Creator:: Albright, Stephen L.
Abstract:: This thesis presents a method for determining the kinematic geometry of arthropod legs. A kinematic description makes possible the analysis of arthropod leg motion, as a prelude to investigating how various arthropod species are able to negotiate diverse terrains. Such knowledge will aid in design of legged vehicles. The focus...
Resource Type:: Dissertation
Full Text:: . Becky Fichter for her useful suggestions in the laboratory and her educating me on the biological

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